/*
Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004-2005 ActivMedia Robotics LLC
Copyright (C) 2006-2010 MobileRobots Inc.
Copyright (C) 2011-2015 Adept Technology, Inc.
Copyright (C) 2016-2018 Omron Adept Technologies, Inc.

     This program is free software; you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation; either version 2 of the License, or
     (at your option) any later version.

     This program is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.

     You should have received a copy of the GNU General Public License
     along with this program; if not, write to the Free Software
     Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA


*/
#include "Aria/Aria.h"

/** @example simpleConnect.cpp example showing how to connect to the robot with ArRobotConnector
 *
 * One of the simplest ARIA programs possible:
 * Connects with ArRobotConnector, waits 3 seconds doing
 * nothing, then exits.
 *
 * This program will work either with the MobileSim simulator or on a real
 * robot's onboard computer.  (Or use -remoteHost to connect to a wireless
 * ethernet-serial bridge.)
 */

int main(int argc, char **argv)
{
  Aria::init();
  ArArgumentParser parser(&argc, argv);
  parser.loadDefaultArguments();
  ArRobot robot;

  // Connect to the robot, get some initial data from it such as type and name,
  // and then load parameter files for this robot.
  ArRobotConnector robotConnector(&parser, &robot);
  if(!robotConnector.connectRobot())
  {
    ArLog::log(ArLog::Terse, "simpleConnect: Could not connect to the robot.");
    if(parser.checkHelpAndWarnUnparsed())
    {
        // -help not given
        Aria::logOptions();
        Aria::exit(1);
    }
  }

  if (!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed())
  {
    Aria::logOptions();
    Aria::exit(1);
  }

  ArLog::log(ArLog::Normal, "simpleConnect: Connected to robot.");

  robot.enableMotors();

  // Start the robot processing cycle running in the background.
  // True parameter means that if the connection is lost, then the 
  // run loop ends.
  robot.runAsync(true);

  // Print out some data from the SIP.  We must "lock" the ArRobot object
  // before calling its methods, and "unlock" when done, to prevent conflicts
  // with the background thread started by the call to robot.runAsync() above.
  // See the section on threading in the manual for more about this.
  robot.lock();
  bool soc = robot.hasStateOfCharge();
  float battv = 0.0;
  if(soc)
    battv = robot.getStateOfCharge();
  else
    battv = robot.getBatteryVoltage();
  ArLog::log(ArLog::Normal, "simpleConnect: Pose=(%.2f,%.2f,%.2f), Trans.  Vel=%.2f, Battery=%.2f%c",
    robot.getX(), robot.getY(), robot.getTh(), robot.getVel(), battv, soc?'%':'V');
  robot.unlock();

  // Sleep for 3 seconds.
  ArLog::log(ArLog::Normal, "simpleConnect: Sleeping for 3 seconds...");
  ArUtil::sleep(3000);

  
  ArLog::log(ArLog::Normal, "simpleConnect: Ending robot thread...");
  robot.stopRunning();

  // wait for the thread to stop
  robot.waitForRunExit();

  // exit
  ArLog::log(ArLog::Normal, "simpleConnect: Exiting.");
  Aria::exit(0);
  return 0;
}
